An integrated navigation and motion control system for autonomous multisensory mobile robots
Autonomous robot vehicles
Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Harmonic functions and collision probabilities
International Journal of Robotics Research
A Reactive Robot Navigation System Based on a Fluid Dynamics Metaphor
PPSN I Proceedings of the 1st Workshop on Parallel Problem Solving from Nature
Development and application of fuzzy logic-based autonomous robot navigation algorithms
Development and application of fuzzy logic-based autonomous robot navigation algorithms
Planning Algorithms
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Constrained motion control using vector potential fields
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Vector fields for robot navigation along time-varying curves in n-dimensions
IEEE Transactions on Robotics
A Harmonic Potential Approach for Simultaneous Planning and Control of a Generic UAV Platform
Journal of Intelligent and Robotic Systems
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This paper extends the capabilities of the harmonic potential field approach to planning to cover the situation where the workspace of a robot cannot be segmented into geometrical subregions each having an attribute of its own. Instead the suggested planner accepts a holistic, task-centered, probabilistic descriptor of the workspace as an input. This descriptor is processed along with a goal point to yield the navigation policy used to direct motion. The extension is based on the physical analogy with an electric current flowing in a nonhomogeneous conducting medium. Proofs of the ability of the modified approach to avoid zero-probability (definite threat) regions and converge to the goal are provided. The capabilities of the suggested planner are demonstrated using simulation.